CN103344253B - A kind of multiaxial motion simulating turntable - Google Patents
A kind of multiaxial motion simulating turntable Download PDFInfo
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- CN103344253B CN103344253B CN201310252866.7A CN201310252866A CN103344253B CN 103344253 B CN103344253 B CN 103344253B CN 201310252866 A CN201310252866 A CN 201310252866A CN 103344253 B CN103344253 B CN 103344253B
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Abstract
The present invention relates to a kind of multiaxial motion simulating turntable, this turntable is used for integrated navigation system and calibrates, and belongs to integrated navigation system technical field.This turntable comprises azimuth axle (1), horizontal shafting (2), course axle system (3), pitch axis system (4), roll axle system (5), pivot arm (6), counterweight (7), support (8) and control tower (9).Turntable of the present invention can be used for integrated navigation system and calibrates.
Description
Technical field
The present invention relates to a kind of multiaxial motion simulating turntable, this turntable is used for integrated navigation system and calibrates, and belongs to integrated navigation system technical field.
Background technology
Integrated navigation system effectively utilizes its own advantages in various system, carries out learning from other's strong points to offset one's weaknesses between system, effectively can reduce the error of system, improves precision, can reduce the cost of Navigation And Guidance system simultaneously.Especially be most widely used with INS inertia/GNSS (Global Positioning System (GPS)) integrated navigation system at present, no matter be in the various military equipments such as aircraft, naval vessel, battlebus, or in the civilian equipment such as high ferro, automobile, be obtained for and apply rapidly and widely.
Multiaxial motion simulating turntable, as a kind of integrated navigation ground test device, utilizes the motion of the rotational movement pivot arm of azimuth axis and transverse axis, provides tested integrated navigation horizontal level and upright position change information; By the motion of course axle, pitch axis, roll axle, provide tested integrated navigation system course and attitudes vibration information; Measuring over time by measuring each shaft angle, trying to achieve the dynamic angle displacement amount of each axle, through difference, the process such as changes in coordinates, try to achieve angular velocity and speed, realize the object of testing integrated navigation system.
Summary of the invention
The object of this invention is to provide a kind of multiaxial motion simulating turntable.
The object of the invention is to be achieved through the following technical solutions.
A kind of multiaxial motion simulating turntable of the present invention, this turntable comprises azimuth axle 1, horizontal shafting 2, course axle system 3, pitch axis system 4, roll axle system 5, pivot arm 6, counterweight 7, support 8 and control tower 9;
Azimuth axis 10 is supported on lower house 12 by pair of horns contact ball bearing 11;
Lower house 12 is fixed on control tower 9 by foot screw;
The rotor of drive motor 13 is arranged on azimuth axis 10, and stator is arranged on lower house 12;
The rotating part of angle measurement grating 14 is arranged on azimuth axis 10, and fixed part is arranged on lower house 12;
Conducting ring part and the azimuth axis 10 of conducting slip ring 15 are coaxially installed, and brush part is then arranged on lower house 12;
Rotating disk 16 is arranged on azimuth axis 10.
The rotor of drive motor 17 and the rotating part of angle measurement grating 18 are arranged on transverse axis 19, and the stator of drive motor 17 and the fixed part of angle measurement grating 18 are arranged on support 8;
Transverse axis 19 is supported on support 8 by angular contact ball bearing 20;
Pivot arm 6 is fixed on transverse axis 19, and three-axis moving axle system is installed, i.e. course axle system 3, pitch axis system 4 and roll axle system 5 in one end of pivot arm, and the other end is provided with counterweight 7;
Course axle 22 is supported on shell 23 by angular contact ball bearing 21;
Course axle 22 is provided with conducting slip ring 24, angle measurement grating 25 and drive motor 26;
The top of course axle 22 is installed with table top 27 with it.
Shell 23 is fixedly connected with pitch axis 29;
Pitch axis 29 relies on bearing 28 to be supported on framework 32;
Pitch axis 29 is provided with side angle grating 30 and drive motor 31;
Roll axle 33 is fixedly connected with framework 32;
Roll axle 33 bearing 34 is supported in pivot arm 6;
Roll axle 33 is provided with angle measurement grating 35 and drive motor 36.
The centre distance of the table top 27 of pivot arm 6 from transverse axis 19 to its one end is 3m ~ 10m.
The range of movement of azimuth axis 10 0 ~ 360 °, transverse axis 19 range of movement-30 ° ~ 210 °, the range of movement of course axle 22: 0 ~ 360 °, pitch axis 29 range of movement :-45 ° ~ 45 °, the range of movement of roll axle 33 :-45 ° ~ 45 °.
Beneficial effect
Turntable of the present invention can be used for integrated navigation system and calibrates.
Accompanying drawing explanation
The structural representation of Fig. 1 turntable of the present invention.
Embodiment
The invention provides a kind of multiaxial motion simulation table, as shown in Figure 1, primarily of by azimuth axle 1, horizontal shafting 2, course axle system 3, pitch axis system 4,55 kinematic axis systems of roll axle system, pivot arm 6, counterweight 7, support 8, control tower 9 form.Azimuth axis 10 is supported on lower house 12 by pair of horns contact ball bearing 11; Azimuth axis 10, under the driving of drive motor 13, drives horizontal shafting 2 and pivot arm 6 etc. to circle at surface level, range of movement 0 ~ 360 °.
Transverse axis 19, under the driving of drive motor 26, can the three-axis moving axle system of driven rotary arm 6 and arm end, counterweight 7 circle, range of movement-30 ° ~ 210 in vertical plane.
System under test (SUT) 37 is installed on the table top 27 of course axle 22, navigation axle 22 range of movement 0 ~ 360 °, pitch axis 29 range of movement :-30 ° ~ 30 °, the range of movement of roll axle 33 :-30 ° ~ 30 °.
Rotated by azimuth axis 10, transverse axis 19 rotate or azimuth axis 10 and transverse axis 19 link, system under test (SUT) 37 is changed in the position in space.
By the motion of course axle 22, pitch axis 29, roll axle 33, the course angle of system under test (SUT) 37 and attitude angle are changed.
Gather azimuth axis 10, transverse axis 19, course axle 22, pitch axis 29, the change of roll axle 33 shaft angle and the output of system under test (SUT) 37 simultaneously, reach the object that system under test (SUT) is measured.
Embodiment
A kind of multiaxial motion simulating turntable, this turntable comprises azimuth axle 1, horizontal shafting 2, course axle system 3, pitch axis system 4, roll axle system 5, pivot arm 6, counterweight 7, support 8 and control tower 9;
Described azimuth axle 1 comprises azimuth axis 10, pair of horns contact ball bearing 11, lower house 12, drive motor 13, angle measurement grating 14, conducting slip ring 15 and rotating disk 16;
Azimuth axis 10 is supported on lower house 12 by pair of horns contact ball bearing 11;
Lower house 12 is fixed on control tower 9 by foot screw;
The rotor of drive motor 13 is arranged on azimuth axis 10, and stator is arranged on lower house 12;
The rotating part of angle measurement grating 14 is arranged on azimuth axis 10, and fixed part is arranged on lower house 12;
Conducting ring part and the azimuth axis 10 of conducting slip ring 15 are coaxially installed, and brush part is then arranged on lower house 12;
Rotating disk 16 is arranged on azimuth axis 10.
Described horizontal shafting 2 comprises drive motor 17, angle measurement grating 18, transverse axis 19, angular contact ball bearing 20;
The rotor of drive motor 17 and the rotating part of angle measurement grating 18 are arranged on transverse axis 19, and the stator of drive motor 17 and the fixed part of angle measurement grating 18 are arranged on support 8;
Transverse axis 19 is supported on support 8 by angular contact ball bearing 20;
Pivot arm 6 is fixed on transverse axis 19, and three-axis moving axle system is installed, i.e. course axle system 3, pitch axis system 4 and roll axle system 5 in one end of pivot arm, and the other end is provided with counterweight 7;
Described course axle system 3 comprises angular contact ball bearing 21, course axle 22, shell 23, conducting slip ring 24, angle measurement grating 25, drive motor 26 and table top 27.
Course axle 22 is supported on shell 23 by angular contact ball bearing 21;
Course axle 22 is provided with conducting slip ring 24, angle measurement grating 25 and drive motor 26;
The top of course axle 22 is installed with table top 27 with it.
Described pitch axis system 4 comprises bearing 28, pitch axis 29, side angle grating 30, drive motor 31 and framework 32;
Shell 23 is fixedly connected with pitch axis 29;
Pitch axis 29 relies on bearing 28 to be supported on framework 32;
Pitch axis 29 is provided with side angle grating 30 and drive motor 31;
Described roll axle system 5 comprises roll axle 33, bearing 34, angle measurement grating 35 and drive motor 36.
Roll axle 33 is fixedly connected with framework 32;
Roll axle 33 bearing 34 is supported in pivot arm 6;
Roll axle 33 is provided with angle measurement grating 35 and drive motor 36.
The centre distance of the table top 27 of pivot arm 6 from transverse axis 19 to its one end is 3m ~ 20m.
The range of movement of azimuth axis 10 0 ~ 360 °, transverse axis 19 range of movement-30 ° ~ 210 °, the range of movement of course axle 22: 0 ~ 360 °, pitch axis 29 range of movement :-45 ° ~ 45 °, the range of movement of roll axle 33 :-45 ° ~ 45 °.
Claims (7)
1. a multiaxial motion simulating turntable, is characterized in that: this turntable comprises azimuth axle (1), horizontal shafting (2), course axle system (3), pitch axis system (4), roll axle system (5), pivot arm (6), counterweight (7), support (8) and control tower (9);
Described azimuth axle (1) comprises azimuth axis (10), a pair first angular contact ball bearings (11), lower house (12), the first drive motor (13), the first angle measurement grating (14), the first conducting slip ring (15) and rotating disks (16);
Azimuth axis (10) is supported on lower house (12) by a pair first angular contact ball bearings (11);
Lower house (12) is fixed on control tower (9) by foot screw;
The rotor of the first drive motor (13) is arranged on azimuth axis (10), and stator is arranged on lower house (12);
The rotating part of the first angle measurement grating (14) is arranged on azimuth axis (10), and fixed part is arranged on lower house (12);
Conducting ring part and the azimuth axis (10) of the first conducting slip ring (15) are coaxially installed, and brush part is then arranged on lower house (12);
Rotating disk (16) is arranged on azimuth axis (10);
Horizontal shafting (2) comprises the second drive motor (17), the second angle measurement grating (18), transverse axis (19), the second angular contact ball bearing (20); Transverse axis (19) is supported on support (8) by the second angular contact ball bearing (20);
Pivot arm (6) is fixed on transverse axis (19), three-axis moving axle system is installed in one end of pivot arm, i.e. course axle system (3), pitch axis system (4) and roll axle system (5), the other end is provided with counterweight (7).
2. a kind of multiaxial motion simulating turntable according to claim 1, it is characterized in that: the rotor of described the second drive motor (17) and the rotating part of the second angle measurement grating (18) are arranged on transverse axis (19), the stator of the second drive motor (17) and the fixed part of the second angle measurement grating (18) are arranged on support (8).
3. a kind of multiaxial motion simulating turntable according to claim 1, is characterized in that: described course axle system (3) comprises triangle contact ball bearing (21), course axle (22), shell (23), the second conducting slip ring (24), the 3rd angle measurement grating (25), the 3rd drive motor (26) and table top (27); Course axle (22) is supported on shell (23) by triangle contact ball bearing (21);
Course axle (22) is provided with the second conducting slip ring (24), the 3rd angle measurement grating (25) and the 3rd drive motor (26); The top of course axle (22) is installed with table top (27) with it.
4. a kind of multiaxial motion simulating turntable according to claim 1, is characterized in that: described pitch axis system (4) comprises the 4th bearing (28), pitch axis (29), the 4th angle measurement grating (30), four-wheel drive motor (31) and framework (32);
Shell (23) is fixedly connected with pitch axis (29);
Pitch axis (29) relies on the 4th bearing (28) to be supported on framework (32);
Pitch axis (29) is provided with the 4th angle measurement grating (30) and four-wheel drive motor (31).
5. a kind of multiaxial motion simulating turntable according to claim 1, is characterized in that: described roll axle system (5) comprises roll axle (33), the 5th bearing (34), the 5th angle measurement grating (35) and the 5th drive motor (36); Roll axle (33) is fixedly connected with framework (32);
Roll axle (33) the 5th bearing (34) is supported in pivot arm (6);
Roll axle (33) is provided with the 5th angle measurement grating (35) and the 5th drive motor (36).
6. a kind of multiaxial motion simulating turntable according to claim 1, is characterized in that: the centre distance of the table top (27) of pivot arm (6) from transverse axis (19) to its one end is 3m ~ 20m.
7. a kind of multiaxial motion simulating turntable according to claim 1, it is characterized in that: the range of movement of azimuth axis (10) 0 ~ 360 °, transverse axis (19) range of movement-30 ° ~ 210 °, the range of movement of course axle (22): 0 ~ 360 °, pitch axis (29) range of movement :-45 ° ~ 45 °, the range of movement of roll axle (33) :-45 ° ~ 45 °.
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| CN201310252866.7A CN103344253B (en) | 2013-06-24 | 2013-06-24 | A kind of multiaxial motion simulating turntable |
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| CN201310252866.7A CN103344253B (en) | 2013-06-24 | 2013-06-24 | A kind of multiaxial motion simulating turntable |
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| CN103344253B true CN103344253B (en) | 2016-04-13 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI583929B (en) * | 2016-04-22 | 2017-05-21 | 林水木 | Six-axis motion measuring mechanism |
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| CN104199475A (en) * | 2014-08-29 | 2014-12-10 | 中国科学院空间科学与应用研究中心 | Spatially applied scanning drive device |
| CN105652684B (en) * | 2014-11-13 | 2019-03-26 | 北京航天计量测试技术研究所 | A kind of novel large four-degree-of-freedom attitude-simulating simulation architecture |
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| CN105371813B (en) * | 2015-12-04 | 2017-11-14 | 上海星钛数码科技有限公司 | Video camera rocking arm rotates and luffing angle measurement apparatus |
| CN106323283B (en) * | 2016-08-30 | 2023-11-21 | 西安比特联创微波科技有限公司 | Vehicle-mounted two-axis turntable and testing method thereof |
| CN106556413B (en) * | 2016-11-07 | 2019-10-18 | 哈尔滨工程大学 | A kind of two axis based on piezoelectric ceramic motor are without magnetic electrical turntable |
| CN106524833A (en) * | 2016-11-29 | 2017-03-22 | 贵州大学 | Target space angle position simulator and application method |
| CN109545038A (en) * | 2018-12-05 | 2019-03-29 | 南京航空航天大学 | A kind of general posture demonstration platform of aircraft and teaching system |
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